KR100416017B1 - A storage medium storaged a robot soccer strategy evolution program and a robot soccer program using thereof - Google Patents

Abstract

The present invention relates to a storage medium containing a robot soccer education strategy development program and a robot soccer game program.

In developing a strategy for robot soccer, the user used a conventional coding method using a programming language.

In the present invention, in the robot soccer strategy development process, using a strategy development tool in a complete GUI environment, the step of developing, modifying the strategy, such as designating the movement of the robot expected by the user, and the development in the above steps in the vision program It consists of applying a strategy.

According to the present invention, it is possible to easily develop the strategy by simple tasks such as the situation setting and the operation setting of the robot soccer strategy in the GUI environment so that elementary and secondary students who are not experts in electronic engineering and programming can easily access the robot soccer. A computer-readable program is a recording medium.

Description

A storage medium storaged a robot soccer strategy evolution program and a robot soccer program using

The present invention relates to a storage medium containing a strategy development program of a robot soccer, and a storage medium containing a program for playing a robot soccer game by applying the development strategy program. In particular, the present invention relates to a storage medium that contains a robot soccer strategy development program that enables the inexperienced person to easily develop and apply a robot soccer strategy in a GUI environment.

In general, micro-robot soccer field has three robots per team, a stadium having a certain standard including both goal posts, and a camera and a PC installed on the upper side of the stadium for transmitting image information in the stadium.

The robot has a power supply, a driving device, a microcontroller, a communication module, and the like, and communicates with the outside by wireless. Each team's computer can wirelessly give its own robot all information about the ball's position, robot's position, speed and direction, operations and tactical commands, but remote control by humans is not permitted. A human can only send commands to the robot at the start, stop and restart of a race.

The robot soccer system basically consists of three robots, a vision system, a communication device, and a host computer. The host computer obtains image information about the positions of the robots and the ball from the vision system and calculates the appropriate tactics according to the situation. Deliver to the robot. The vision system used to locate objects in the stadium consists of a color CCD and a vision mode for processing image signals. It is simply regarded as the robot's external visual sensor.

In order to play robot soccer, a robot soccer vision program has been developed and used in which a user can develop a strategy using a programming language and apply the strategy program.

Regarding the vision program of the robot soccer, the applicant has filed a patent application in 1999 Patent Application No. 47704 (October 30, 1999) "Method of controlling execution of the vision program for the robot soccer game".

In the method of controlling the vision program of the inventors robot robot in the vision program execution control method for providing various vision information for the robot football game,

Finding a start address of the video memory and reading color values of a look-up table previously stored; Activating buttons other than the Load VxD button; Setting a type and video format of a video signal; Setting a color to find using a screen enlarged by a predetermined multiple; Judging whether or not the set color is suitable and setting a stadium area if it is determined to be appropriate; Judging whether the set color is appropriate and re-adjusting the color range if it is not suitable; Setting a pixel size of the robot displayed on the screen; Setting maximum and minimum values of the color range; Setting the serial port, goal location, objects to find and the situation to use for the strategy; Storing the environment (color range, stadium size, robot size, air position, etc.) set to date to a file; Calculating a PWM signal to be transmitted to the robot in a state where the vision program and the robot control program are executed; A process of designating initial positions of the ball and robots as vision information and strategy are newly improved at predetermined time periods; Transmitting the calculated PWM signal to the robots; As the execution of the vision program and the robot control program is stopped by the user's selection, an invention including a process of stopping the transmission of the PWM signal to the robots has been proposed.

In the related art, a robot control program is programmed by a user using a programming language for a robot soccer game, and the game is performed in conjunction with the vision program.

However, the conventional robot soccer game method requires a user to write a robot control program directly, so that those who are not familiar with programming cannot enjoy the robot soccer game.

In addition, even if you are familiar with programming, you have to do programming for games.

In addition, in the prior art of direct programming, there was a problem that the development of strategies to cope with various situations is not easy.

The present invention is to solve the problems of the prior art, an object of the present invention is to develop a robot soccer strategy in a GUI environment that can be developed by a simple input operation, without the user programming directly for the robot soccer game To provide a recording medium containing a program capable of doing this.

Another object of the present invention is to provide a recording medium that contains a program that allows a user to cope with various situations of robot soccer through simple area setting.

Still another object of the present invention is to provide a robot soccer game method that can be utilized by using the program and vision program developed by the robot soccer strategy development program.

As a technical idea for achieving the object of the present invention, the process of the microprocessor displays the strategy development tool window on the computer screen, and through the displayed strategy development tool window new strategy creation, strategy correction, strategy addition, strategy deletion A process of selecting and inputting a task type, and a process of performing a corresponding task activated through the strategy development tool window according to the selected input task type by the microprocessor, and terminating the task by the microprocessor. Process being stored and

Sorting stored strategies in order of importance,

A storage medium containing a computer-readable robot soccer strategy development program including a process of transmitting the strategy for the stored robot soccer to a game operating program is provided.

In still another aspect of the present invention, there is provided a method of playing a robot soccer game using a strategy program and a vision program developed by the robot soccer strategy development program, and a process of identifying the position and movement of a robot and a ball through a vision program. And, when the execution of a specific strategy, and the execution of a specific strategy is over, or timed out, the robot soccer game method is repeated to switch to the basic strategy mode to perform the basic strategy mode.

1 is an embodiment of the execution window of the strategy development program of the present invention.

Figure 2 is an embodiment of the execution window when the strategy creation or modification of the present invention.

3 is a flowchart of the strategy creation or modification process of the present invention.

4 is a flowchart illustrating an embodiment in which the robot soccer game program of the present invention is executed.

5 is an embodiment of the execution window of the vision program that is linked to the strategy development program of the present invention.

<Description of Major Symbols in Drawing>

1: File Open Button 2: Save Button

3: Create new file button 4: Add button

5: Task completion button 6: Strategy modification button

7: Delete strategy button 8: Sort strategy ranking button

9: Transfer button 10: Finish button

11: Work strategy selection button 12: Strategy mode setting window

13: Exclusion robot setting window 14: Status view window

15: Strategy contents setting window 16: Importance setting window

17: time limit setting window 18: position and movement designation window

30: Strategy development execution button 20: Vision program execution window

40: Robot soccer live vision window

Hereinafter, with reference to the accompanying drawings, the configuration and operation of the embodiment of the present invention will be described in detail.

1 is an initial screen of a strategy development program that is activated when strategy development is selected in a vision program.

2 is a strategy creation and strategy modification screen that is activated when a new strategy creation (addition) or strategy creation (modification) is selected.

With reference to the buttons and task panes shown in FIGS. 1 and 2, file open 1 invokes strategies already stored in the file. This button is deactivated during strategy creation and strategy revision.

Save 2 saves the current strategies to a file. It is deactivated when creating and revising strategies.

The new file (3) has no strategy. Deactivated when creating and modifying strategies.

Add (4) creates a new strategy. Deactivated when creating and modifying strategies.

Done 5 ends the strategy creation and modification after Add or Edit. Only active when creating and modifying strategies.

Edit 6 modifies the selected job strategy. Deactivated when creating and modifying strategies.

Remove 7 deletes the selected work strategy. Deactivated when creating and modifying strategies.

Sort (8) sorts the strategies in descending order of Importance values. It is disabled when creating and modifying strategies.

Load 9 allows strategies to be applied to a real robot. The strategies are then automatically sorted in descending order of Importance values. Deactivated when creating and modifying strategies.

Exit 10 ends strategy development and closes the window. Deactivated when creating and modifying strategies.

Selected Job 11 represents the currently selected strategy number, and the desired strategy can be selected by modifying the number in the scroll bar or directly within the window. When you press the 'Add' button, a window is added to the total number of branches of the strategy. Deactivated when creating and modifying strategies.

The mode 12 distinguishes between an attack strategy and a defense strategy. Deactivated only when creating and modifying strategies.

Unable check box 13 selects a robot to be excluded from the strategy application.

Show box 14 shows the selected work strategy. It is always active.

Setting 15 selects the content of the strategy to be created. Only active when creating and modifying strategies.

Importance 16 indicates the importance of the strategy and can only be modified directly. Only active when creating and modifying strategies.

Time Limit 17 represents the maximum time the strategy can be executed and is in seconds. Only active when creating and modifying strategies.

3 is a schematic flowchart of the process of strategy creation and strategy creation in the strategy development program.

Referring to FIG. 3, the process of activating the vision program of FIG. 5 in a computer (S100);

Activating the strategy development tool window of the strategy development program using the "setjob" function to select the strategy development to activate the strategy development program for the strategy development in the activated vision program (S120),

The process of selecting and inputting a task type, such as creating a new strategy or modifying a strategy, in the strategy development tool window (S130);

A process of selecting a strategy to be corrected when a strategy correction task is selected in step S130 (S150);

A strategy mode setting step (S160) of setting an attack mode or a defense mode when a new strategy writing job is selected in step S130 or a modification target strategy is selected in step S130;

If the robot is to be excluded in the strategy is applied to the strategy (S170) and

In the robot soccer, the position setting of the own team robot and the expected position of the opposing team robot are set, and the strategy content setting process (S180) in which the movement of the own team robot is designated,

The process of establishing the importance of the strategy created or modified (S190),

A time limit setting process (S200) for setting the application time of the strategy to create or modify in seconds, and

The process of creating or modifying the above step is terminated (S210),

Storing the created strategy (S220),

(S230) sorting the priority of the created or modified plurality of strategies in descending order of importance;

In order to apply the strategy to the robot soccer game, a process of transmitting to a game operation program (S240) is made.

The strategy mode setting process (S160) is a process of selecting attack strategy development and defense strategy development.

The exclusion robot setting process (S170) is a process for excluding the robots to be excluded from the strategy, the checked robot does not participate in the strategic situation and moves in accordance with the programmed basic strategy. However, if the main robot (assistant HR), the assistant robot (assistant HR) and the goalkeeper robot (HR) robot is checked in all cases are not recognized as a strategy.

The strategy content setting process (S180) includes a position specifying process for designating a situation in which the strategy operates, and a motion designating process for designating four or less movements of the own robots when the strategic situation occurs.

In the location designation process, as a process of designating a situation in which the strategy of the robot football will operate, the radio button corresponding to each content is selected and created in the location of the strategy content setting window 15 of FIG. 2. The specific content is as follows.

① Ball

It is not set in Attack Mode. In Defense Mode, you specify the location of the ball.

② Main HR

In attack mode, the location area of the robot with the ball in the robots Home1 and Home2 is designated. In the defensive mode, the robot's home area (Home1, Home2) to designate the location of the robot to pursue the ball.

③ Assistant HR

In attack mode, the location area of the robot which does not have a ball among its own robots (Home1, Home2) is designated. In the defensive mode, the robot's home area (Home1, Home2) of the robot will not specify the location area of the robot.

④ HG (Goalkeeper Robot)

Designates the location area of the goalkeeper robot HG.

⑤ Oppo1 (Relative Flight 1), Oppo2 (Relative Flight 2), Oppo3 (Relative Flight 3)

Specify three location areas where opposing robots can be. In this case, the three position areas are not related to the type of the opponent robot, and if each of the opponent robots correspond to only one of the three location regions, the three robots are recognized as being in accordance with the strategic situation.

⑥ Location area designation method

After selecting the corresponding radio button, designate the location area of the robot as a square of a certain size. In addition to these methods, if you draw a square on the playing field with the mouse, you can designate the square as the robot's location area.

The motion designation process is a process of designating four or less motions of the robots when a strategic situation occurs. The details are as follows.

Ⓐ Main HR

In attack mode, you can specify up to four targets for the ball on the main HR robot. It is not set in defense mode.

Ⓑ Assistant HR

Regardless of the mode, four or less positions that the Assistant HR must pass through are designated.

Ⓒ HG (Goalkeeper Robot)

Regardless of the mode, the goalkeeper robot must specify four or less positions to pass through.

When the radio button is selected as described above and the movement of the robots is selected, the corresponding radio button is selected, and the position of the robot and the approximate points of four or less 'X' marks of the movement designation window 21 of FIG. You can see the route. Drag the points with the mouse to create the desired travel path. Up to four points can be specified, and one, two or three points can be created by overlaying the points with each other.

Hereinafter, a method for applying a strategy created in the strategy development program to an actual robot soccer game will be described.

4 is a flowchart illustrating a process of applying a strategy created and modified in the strategy development program as a strategy in the vision program.

5 is an execution window of the vision program used when the robot football game. As shown in FIG. 5, a vision program execution window 20, a set job button 30 for activating a strategy development program, and a robot football live vision window 40 are provided.

Referring to Figures 4 and 5 the robot soccer game method,

The robot soccer game is started by performing the basic strategy while transferring the strategy developed in the strategy development program to the vision program.

The process of grasping the position of the current robot and the position of the ball through the robot soccer real vision window 40 (S300),

Determining whether the specific strategy developed in the strategy development program is being executed (S310),

If it is determined in step S310 that the specific strategy is being performed, the process of determining whether to terminate the specific strategy execution or the strategy execution time (S350),

If the end of the specific strategy execution or the strategy execution time is not exceeded in the process S350, the specific strategy of the process (S340) is performed, and if it is determined that the end of the specific strategy execution or the strategy execution time is exceeded, the basic strategy mode is switched to Process (S360),

Switching to the basic strategy mode in step S360 and performing a basic strategy mode and feeding back to the step S300 (S370);

If it is determined in step S310 that the specific strategy is not being executed, step S320 of searching for a strategy suitable for the current situation;

If the specific strategy is not found in the process S320, the basic strategy mode call process (S360) is performed, and when the specific strategy is searched, the process of switching to the found specific strategy mode (S330);

After performing the specific strategy mode switching process (S330), the process consists of performing a specific strategy and performing the process (S350) (S340).

In the above-described process, at least one specific strategy developed in the strategy development program is arranged in order of importance, and then transmitted to the vision program so that the player can properly select the basic strategy originally stored in the vision program and the specific strategy transmitted. Robot soccer game while adjusting.

In other words, in the vision program, the strategy is applied by pressing the 'Load' button in the strategy development tool. Job Situation of FIG. 5 controls the application of the strategy in the vision window 40. Job Enable also determines whether to apply the strategy. If not checked, only the basic strategy programmed is used. In addition, the display of the Main HR, Assistant HR, HG, Oppo1, Oppo2, and Oppo3 robots determines whether to apply strategic situation and motion control to each robot. That is, if it is not checked, it does not participate in the strategic situation search, and in case of its own robot, it moves according to the basic strategy programmed when the strategic situation occurs.

On the other hand, with reference to the status window of Figure 5, in the status window iST represents a value of 1 or 2, respectively, when there is a strategy situation that is currently matched or executing strategy, 0 otherwise.

Job indicates the number of strategies being executed.

STH [0] represents the movement state of the main robot Main HR. That is, the movement corresponding to the displayed number is being performed.

STH [1] represents the state of movement of the assistant HR.

STH [2] represents the movement state of the goalkeeper robot HG.

BH and AH indicate which robots are the main robot and the main robot, respectively. (0 = Home1, 1 = Home2, -1 = if no robot has a ball)

Time represents elapsed time of strategy execution.

However, the values of Job, STH [0], STH [1], STH [2], and Time have no meaning when iST is 0.

As for the principle of strategy application using the vision program and strategy development program, if there is a matching strategy by comparing the position of each robot and the position of the ball with the position of each strategy, iST = 1 or 2 (1 = Attact Mode, 2 = Defence Mode). At this time, the strategy with high Importance is selected first to avoid the situation where several strategies overlap.

If the robots finish the work indicated by the strategy or if the elapsed time of the strategy exceeds the time limit set by the user, the strategy is terminated. This will automatically set iST = 0 and select the appropriate strategy again. With iST = 0, the robot moves according to the basic strategy programmed. The basic strategy not only moves the robot but also moves the robot to its initial position. In the latter case, if the set jobs are not performed, the robots move to the designated initial position. In this case all movements of the robot are possible only by the user's strategy.

In Attack Mode, the Main HR robot tries to drive the ball to the designated location. In Defense Mode, the Main HR robot attempts to catch the ball unconditionally, and the strategy that was running automatically ends when the ball is caught.

As described above, by using the strategy development program of the present invention can be easily developed by dividing the defense and attack strategy, it is possible to actually enjoy the robot football only with a soccer robot without specialized knowledge. Therefore, through the present invention, not only more people can easily enjoy the robot soccer, but also has an effect that can be used as an educational program.

Claims (11)

The process of displaying the strategy development tool window on the computer screen by the microprocessor of the computer on which the robot soccer strategy development program is executed; A process of selecting and inputting a task type such as new strategy creation, strategy correction, strategy addition, and strategy deletion through the displayed strategy development tool window; Performing a corresponding task activated through the strategy development tool window according to the selected input task type by the microprocessor; The process is completed and stored by the microprocessor, And a computer readable robot soccer strategy development program comprising the step of transmitting the strategy for the stored robot soccer to a game operating program so as to be applied to the robot soccer. The method of claim 1, wherein the strategy creation task includes a process of selecting a strategy to be modified, and the strategy creation and strategy correction task comprises: a strategy mode setting process of setting an attack mode or a defense mode through a microprocessor; When the strategy is applied by the microprocessor, the process of setting the robot to be excluded from the strategy, A strategy content setting process for setting the position of the own team robot and the anticipated position of the opposing team robot in the robot soccer and designating the movement of the own team robot through the microprocessor; Thereafter, the importance level of the strategy created or modified by the microprocessor is established. A time limit setting process for setting the application time of the strategy to be created or modified in seconds, And a computer readable robot soccer strategy development program comprising the steps of being arranged in the order to be applied according to the importance of the revised or written strategy by the microprocessor. The storage medium of claim 2, wherein the computer-readable robot soccer strategy development program is configured to convert a strategy through a strategy time limit set through the time limit setting process. The method of claim 2, wherein the setting of the robot to be excluded from the strategy is performed by the microprocessor according to the basic strategy that is programmed without being involved in the strategic situation by not transmitting the strategy to the robot excluded from the strategy. If the robot used in the strategy is set to play a role corresponding to all of the main robot (assistant HR), assistant robot (assistant HR) and goalkeeper robot (HR), it is characterized in that the robot is not recognized as the strategy. A storage medium containing a computer readable robot soccer strategy development program. The method of claim 2, wherein the robot positioning process comprises setting the microprocessor to operate the ball, the main robot, the auxiliary robot, the goalkeeper robot, and the opponent robot according to the strategy of the robot football using the strategy development tool window. A storage medium containing a computer-readable robot soccer strategy development program, characterized by setting a rectangle having a predetermined size for each ball and a robot in the position and movement designation window of a tool window as an area of a corresponding ball and a robot. The storage medium of claim 2, wherein the robot position region setting and the movement setting are performed in a GUI environment of a computer. A robot soccer strategy development program and a vision program for playing a robot soccer game, and the method developed by the robot soccer strategy development program to transmit the strategy developed by the vision program to the robot soccer game, The process of identifying the position and movement of the robot and the ball through the game live vision window of the vision program displayed on the computer, To determine if a particular strategy is being carried out, If a specific strategy is being executed, determining whether the execution of the specific strategy has ended or timed out; The computer-readable robot soccer game program characterized in that it is switched to the basic strategy mode and repeats the process of performing the basic strategy if it is determined that the strategy execution is terminated or exceeded in the strategy execution timeout or the strategy execution timeout determination process. Listed storage media. 8. The storage medium of claim 7, wherein the vision program includes a basic strategy program. The method of claim 7, wherein the robot soccer game program is a step of searching for a strategy suitable for the current situation when not performing the specific strategy, If the specific strategy is not found in the strategy search process, and performing the specific strategy mode, if the specific strategy is found further comprises the step of performing the specific strategy by switching to the specific strategy mode, Storage medium containing a computer-readable robot soccer game program characterized in that for performing the process of determining whether the execution of the specific strategy is finished or the strategy execution time is exceeded during the specific strategy execution process. 8. The storage medium of claim 7, wherein the robot soccer game program weights a strategy to select one strategy in various situations. 8. The storage medium of claim 7, wherein the robot soccer game program includes means for setting coefficients of basic control functions for moving the robots.